Method for positioning a wire using sensor information

ABSTRACT

A method for positioning a wire having nodes and streamers is provided herein. The wire can be secured to tow lines secured to a floating vessel for detecting near surface geology formations. The method can use in-water sensors deployed proximate to the wire near the tow lines, and a processor with data storage in communication with the in-water sensors. The method can use a data array, a library of data formats, a library of wires, a library of preset limits, and a network. The method can include receiving sensor information, filtering sensor information, verifying filtered signals, constructing and modifying a mathematical model, obtaining a list of coordinates, constructing a real-time display of the wire, identifying a location of at least one streamer, transmitting alarms, creating a trend analysis over time and event-by-event, and creating a log file using the industry standard data formats.

FIELD

The present embodiments generally relate to a method for determiningprojected coordinates in a projected coordinate system for at least onenode on a wire.

BACKGROUND

A need exists for an improved seismic positioning method for positioningwires pulled from a floating vessel over a near surface geologicalformation.

The present embodiments meet these needs.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description will be better understood in conjunction withthe accompanying drawings as follows:

FIG. 1 depicts a wire being towed from a floating vessel.

FIGS. 2A-2B depict local coordinates on a local coordinate system andprojected coordinates on a projected coordinate system.

FIGS. 3A-3B depict embodiments of a trend analysis over time and a trendanalysis event-by-event.

FIG. 4 depicts an embodiment of a log file.

FIG. 5 depicts an embodiment of a portion of a real-time display.

FIGS. 6A-6D depict an embodiment of a data storage.

FIGS. 7A-7D depict an embodiment of the method.

The present embodiments are detailed below with reference to the listedFigures.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Before explaining the present method in detail, it is to be understoodthat the method is not limited to the particular embodiments and that itcan be practiced or carried out in various ways.

The present embodiments relate to a method for determining projectedcoordinates in a projected coordinate system for at least one node on awire having a plurality of nodes.

The method can include securing two separated tow lines to a floatingvessel, such as using cleats on the floating vessel or any suitableconnector. Each tow line can have a diverter on one end.

The method can include deploying the wire between the two separated towlines. For example, the wire can be connected at each end to thediverter of each tow line. The method can include installing at least apair of first in-water sensors on the wire. Each first in-water sensorcan be positioned proximate to an end of the wire.

Each first in-water sensor can be a sensor embedded in the wire, asensor positioned adjacent one of the plurality of nodes on the wire, asensor proximate to the wire, a sensor on a buoy towed from the wire, orcombinations thereof.

The method can include using the pair of first in-water sensors tocollect and transmit first sensor information to a processor incommunication with a data storage.

The method can include using the processor and the sensor information todetermine projected coordinates for a position on the wire. For example,the sensor information can be global positioning system sensorinformation and compass heading information that can be used todetermine projected coordinates.

The method can include installing at least a pair of second in-watersensors on the wire. Each second in-water sensor can be a sensorembedded in the wire, a sensor attached to the wire, or combinationsthereof.

The method can include using the second in-water sensors to collect andtransmit second sensor information to the processor.

The method can include using the processor, the second sensorinformation, and an algorithm for computing azimuths tangential to thewire to compute a first azimuth tangential to the wire for each secondin-water sensor. The algorithm for computing azimuths tangential to thewire can be a third, fourth, and/or fifth order polynomial algorithm.

The method can include loading a library of nominal values for third,fourth, and/or fifth order polynomial coefficients, a library of knowndistances along the wire, and a library of preset limits into the datastorage.

The method can include using the projected coordinates from the firstin-water sensors and a bearing equation to compute a bearing between thefirst in-water sensors.

The method can include using the bearing, the first sensor information,the second sensor information, and a first rotation algorithm toreorient the projected coordinates of the first in-water sensors tolocal x-y coordinates, thereby forming a local x-y coordinate system.

The method can include using the rotation algorithm and the bearing torotate the azimuths tangential to the wire from the second in-watersensors to reoriented azimuths tangential to the wire of the secondin-water sensors into the local x-y coordinate system.

The method can include constructing the third, fourth, and/or fifthorder polynomial algorithm of the wire in real-time using nominal valuesfrom the library of nominal values for the third, fourth, and/or fifthorder polynomial coefficients, the local x-y coordinates of the firstin-water sensors, and at least one distance along the wire from thelibrary of known distances along the wire.

The method can include computing a second azimuth tangential to the wireat each second in-water sensor using the third, fourth, and/or fifthorder polynomial algorithm.

The method can include computing a difference between the computedsecond azimuths tangential to the wire with the reoriented azimuthstangential to the wire to form a residual.

The method can include using the residual with a least squares techniqueto update the library of nominal values for third, fourth, and/or fifthorder polynomial coefficients.

The method can include constructing an updated third, fourth, and/orfifth order polynomial algorithm of the wire using updated nominalvalues from the library of nominal values for third, fourth, and/orfifth order polynomial coefficients, the local x-y coordinates of thefirst in-water sensors, and at least one distance along the wire fromthe library of known distances along the wire.

The method can include computing an updated azimuth tangential to thewire at each second in-water sensor using the updated third, fourth,and/or fifth order polynomial algorithm.

The method can include computing an updated difference between thecomputed second azimuths tangential to the wire with the reorientedazimuths tangential to the wire until the residual is within a presetlimit of the library of preset limits.

The method can include calculating a pair of local x-y coordinates forat least one of the plurality of nodes on the wire.

The method can include using the bearing and the third, fourth, and/orfifth order polynomial algorithm to rotate the pair of local x-ycoordinates from the local x-y coordinate system to the projected x-ycoordinate system.

The computer implemented method can include installing depth sensors toidentify a water depth for each of the plurality of nodes or for eachin-water sensor on the wire, and transmitting water depth sensorinformation from the depth sensors to the processor for use in formingthe projected coordinates.

The computer implemented method can include determining an absoluteposition for each in-water sensor, each of the plurality of nodes, ordetermining a specific distance on the wire using global positioningsystem sensors, laser sensors, acoustic sensors, or combinationsthereof.

The computer implemented method can include connecting the processorwith a network for communication to a client device remote to theprocessor, allowing for remote monitoring. The client device can be amobile phone, a computer, a laptop, a tablet computer or a similardevice.

The computer implemented method can include computing the projectedcoordinates in real-time as the floating vessel traverses over a nearsurface geological formation.

The computer implemented method can include constructing a real-timedisplay of the wire that is updated at least every one minute. Thereal-time display can be constructed using the computer instructionsdescribed below.

The computer implemented method can include identifying a location of atleast one streamer on at least one of the plurality of nodes in-realtime using the real-time display, and transmitting an alarm when thelocation of the at least one streamer moves outside of the preset limitsassociated with one of the plurality of nodes.

In one or more embodiments, the wire can include at least one streamerconnected to at least one of the plurality of nodes for collectingseismic data of near surface geological formations.

In one or more embodiments, the wire can include at least one hydrophoneconnected to at least one of the plurality of nodes for collectingseismic data of a near surface geological formation.

The computer implemented method can include creating a trend analysisover time using the third, fourth, and/or fifth order polynomialalgorithm. The trend analysis over time can be created using thecomputer instructions described herein.

The computer implemented method can include creating a trend analysisevent-by-event using the third, fourth, and/or fifth order polynomialalgorithm. The trend analysis event-by-event can be created using thecomputer instructions described herein.

The computer implemented method can include creating a log filecontaining the local x-y coordinates, the projected coordinates of theprojected x-y coordinate system, or combinations thereof.

The computer implemented method can include receiving with the sensorinformation a time stamp associated with a specific sensor measurementtaken by the in-water sensors.

One or more embodiments relate to a system that can be used to implementone or more embodiments of the method. The system can be a computerimplemented system. A processor can use computer instructions and otherdata stored in a data storage to perform one or more portions of themethod.

The system can be used to position equipment used to detect near surfacegeology formations during high resolution marine geophysical surveying.

The wire can be secured to two separated tow lines that are both securedto a floating vessel. For example, each tow line can have a diverterattached thereto opposite the floating vessel, and the wire can besecured to the diverters. The wire can form a curve. The floating vesselcan be a geophysical survey vessel.

The tow lines can be wire rope, electrical wire, cable, polymer rope,hemp rope, or combinations thereof. The tow lines can be attached to thefloating vessel by any suitable connector, such as cleats.

The diverters can be those made by The Baro Companies, of Stafford, Tex.

The wire can be wire made by Geometrics, and can have a plurality ofnodes disposed along a length of the wire.

Each node can be a determined point along the length of the wire. Forexample, the node can be at a tow point for a streamer, a location of anin-water sensor, a tow point for a hydrophone, or any other locationalong the wire.

The projected coordinates that are determined using the system can becoordinates, such as x-y coordinates on the projected coordinate system.The projected coordinate system can be a Cartesian coordinate systemprojected over a body of water, such as a Universal Transverse MercatorGrid in the Gulf of Mexico.

The system can be used to determine a projected coordinate for each ofthe plurality of nodes on the wire.

The system can include at least a pair of first in-water sensors. Eachfirst in-water sensor can be positioned proximate to an end of the wire.An example of a first in-water sensor is a sensor available from PBXSystems, which provides GPS sensor data.

Each first in-water sensor can be embedded in the wire, positionedadjacent one of the plurality of nodes on the wire, proximate to thewire, on a buoy towed from the wire, or combinations thereof. The buoycan be a floating piece of foam or the like.

Each first in-water sensor can be deployed to determine the projectedcoordinates for a position on the wire.

In one or more embodiments each first in-water sensor can be a globalpositioning system sensor; a laser sensor, such as an MDL Fanbeam typesensor; an acoustic sensor, such as a Sonardyne type sensor; orcombinations thereof.

In one or more embodiments the system can account for changes in theshape of the wire to provide accurate node locations using the globalpositioning system sensor, compass headings, and other information. Forexample, the compass headings can be detected by a 3004 digital compassmade by Spartan Electronics.

The system can include at least a pair of second in-water sensors. Eachsecond in-water sensor can be embedded in the wire, attached to thewire, or combinations thereof.

The second in-water sensors can be deployed to provide azimuthstangential to the wire.

The term “azimuths tangential to the wire” refers to the bearing of thewire at the node where the second in-water sensor for determiningcompass headings is attached.

The system can include a processor in communication with a data storage,each first in-water sensor, and each second in-water sensor.

The processor can be configured to process in real-time as the floatingvessel traverses over a near surface geological formation.

Real-time processing can include collecting and processing data fromabout every 1 second to about every 20 seconds.

A near surface geological formation can be an oil reservoir, a gasreservoir, a salt dome, or other geological formations.

In one or more embodiments, instead of or in addition to processing inreal-time, the processor can perform processing after the floatingvessel has acquired information from all of the first in-water sensorsand all of the second in-water sensors. For example, the processing canbe performed immediately after all of the sensor information iscollected or any time thereafter.

The data storage can be a hard drive, a jump drive, or any computerreadable medium. One or more embodiments of the data storage can includea dynamic information database, such as a structured query language(SQL) server database, for storing data within, such as the sensorinformation.

A library of nominal values for third, fourth, and/or fifth orderpolynomial coefficients can be stored in the data storage.

The library of nominal values for third, fourth, and/or fifth orderpolynomial coefficients can include nominal values. The nominal valuescan be any number.

A library of known distances along the wire can be stored in the datastorage. The library of known distances along the wire can includedistances from the connection of the wire to the first tow line to eachof the first in-water sensors.

The library of known distances along the wire can include distances fromeach first in-water sensor to each second in-water sensor.

The library of known distances along the wire can include distances fromeach node to each other node, or from each in-water sensor to each node.

The library of known distances along the wire can include any otherknown distance along or relative to the wire.

A library of preset limits can be stored in the data storage comprisingpreset limits. For example, the preset limits can include a measurementbetween two nodes, a water depth, a compass heading, a rate of change incompass heading, or other measurements.

The data storage can have computer instructions for instructing theprocessor to receive sensor information from each first in-water sensorand each second in-water sensor. For example, each first in-water sensorand each second in-water sensor can collect sensor information and cantransmit that sensor information to the processor for storage on thedata storage.

The sensor information can include an azimuth tangential to the wire,the projected coordinates for a position on the wire, a water depth of anode, a compass heading of a node, a global positioning system locationof a node, or combinations thereof.

Each portion of sensor information can include a time stamp associatedwith a specific sensor measurement. The time stamps can identify thetime that the sensor measurement was taken and validated.

The data storage can have computer instructions to instruct theprocessor to use the projected coordinates from the first in-watersensors to compute a bearing between the first in-water sensors.

For example, the bearing can be computed by the following equation:θ=arctan((y1−y2)/(x1−x2)), with x1 and y1 being the projectedcoordinates of one first in-water sensor, and x2 and t2 being theprojected coordinates of another first in-water sensor.

The data storage can have computer instructions to instruct theprocessor to use the bearing with the sensor information and a firstrotation algorithm to reorient the projected coordinates of all of thefirst in-water sensors to local x-y coordinates, forming a local x-ycoordinate system.

In one or more embodiments the first rotation algorithm can be used torotate the projected coordinates to the local coordinates by a rotationangle θ. For example, the x coordinate of the projected coordinates canbe rotated by the following equation: x=E*cos θ+N*sin θ. The ycoordinate of the projected coordinates can be rotated by the followingequation: y=−E*sin θ+N*cos θ. In the first rotation algorithm equationsabove, x is the local x coordinate, y is the local y coordinate, E isthe projected easting coordinate, N is the projected northingcoordinate, and θ is the rotation angle.

The data storage can have computer instructions to instruct theprocessor to rotate the azimuth tangential to the wire from the secondin-water sensors using the bearing and a second rotation algorithm toreorient all azimuths tangential to the wire of all the second in-watersensors into the local x-y coordinate system.

In one or more embodiments the second rotation algorithm can be used torotate the azimuth tangential to the wire into the local x-y coordinatesystem by a rotation angle θ. For example, a rotated azimuth tangentialto the wire can be determined by: A′=A+θ. In the second rotationalgorithm A′ is the rotated azimuth, A is the measured azimuth, and θ isthe rotation angle.

The data storage can have computer instructions to instruct theprocessor to construct a third, fourth, and/or fifth order polynomialalgorithm of the wire in real-time.

For example, a third order polynomial algorithm of the wire can be:y=ax³+bx²+cx+d. A fourth order polynomial algorithm of the wire can be:y=ax⁴+bx³+cx²+dx+e. A fifth order polynomial algorithm of the wire canbe: y=ax⁵+bx⁴+cx³+dx²+ex+f.

Within the third, fourth, and/or fifth order polynomial algorithm, x andy can both be coordinates along the wire, and a, b, c, d, e, and f caneach be coefficients to be solved by a least squares technique.

For example, survey observations obtained can be the y coordinate at thehead of the wire derived from the global positioning system sensors andtangential azimuths along the wire derived from compass headings of thewire.

The third, fourth, and/or fifth order polynomial algorithm can provideaccurate modeling within about a decimeter in extreme cross currents.

In benign conditions, the third, fourth, and/or fifth order polynomialalgorithm can provide even more accurate modeling.

The third, fourth, and/or fifth order polynomial algorithm of the wirecan be constructed using the nominal values from the library of nominalvalues for third, fourth, and/or fifth order polynomial coefficients,the local x-y coordinates of the first in-water sensors, and at leastone distance along the wire from the library of known distances alongthe wire.

The data storage can have computer instructions to instruct theprocessor to compute an azimuth tangential to the wire at each secondin-water sensor using the third, fourth, and/or fifth order polynomialalgorithm.

As an example of computing an azimuth tangential using the third orderpolynomial algorithm, the equation, y=ax³+bx²+cx+d, can be used as athird order polynomial definition of a curve.

The equation, y=ax³+bx²+cx+d, can be differentiated by x, with asolution of: dy/dx=3ax²+2bx+c, as the slope of the tangent at x.

The slope of the tangent at x can be converted to an azimuth using thefollowing equation: 3π/2−arctan(dy/dx).

The data storage can have computer instructions to instruct theprocessor to compute a difference between the computed azimuthstangential to the wire with the reoriented azimuths tangential to thewire from all of the second in-water sensors, thereby forming aresidual.

For example, the difference between the computed azimuth tangential andthe reoriented azimuths tangential can be computed by subtracting onefrom the other.

The data storage can have computer instructions to instruct theprocessor to use the residual with a linear least squares technique toupdate the library of nominal values for third, fourth, and/or fifthorder polynomial coefficients.

In the linear least squares technique, the overall solution can minimizethe sum of the squares of the residuals computed in solving every singleequation using the third, fourth, and/or fifth order polynomial.

A regression model is a linear one when the model comprises a linearcombination of the parameters. The generalization of the n-dimensionalPythagorean theorem to infinite-dimensional real inner product spaces isknown as Parseval's identity or Parseval's equation. Particular examplesof such a representation of a function are the Fourier series and thegeneralized Fourier series.

The data storage can have computer instructions to instruct theprocessor to construct an updated third, fourth, and/or fifth orderpolynomial algorithm of the wire using updated nominal values from theupdated library of nominal values for third, fourth, and/or fifth orderpolynomial coefficients, the local x-y coordinates of the first in-watersensors, and at least one distance along the wire from the library ofknown distances along the wire.

The data storage can have computer instructions to instruct theprocessor to compute an updated azimuth tangential to the wire at eachsecond in-water sensor.

The data storage can have computer instructions to instruct theprocessor to compute an updated difference between the computed updatedazimuths tangential to the wire with the reoriented azimuths tangentialto the wire from all of the second in-water sensors until the residualis determined to be within one of the preset limits from the library ofpreset limits.

The data storage can have computer instructions to instruct theprocessor to calculate a pair of local x-y coordinates for at least oneof the plurality of nodes on the wire. For example, each pair of localx-y coordinates can be calculated using the third, fourth, and/or fifthorder polynomial algorithms.

The data storage can have computer instructions to instruct theprocessor to use the bearing and a third rotation algorithm to rotatethe pair of local x-y coordinates for at least one of the plurality ofnodes on the wire from the local x-y coordinate system to the projectedcoordinate system.

In one or more embodiments the third rotation algorithm can be used torotate from the local coordinates to the projected coordinates by arotation angle θ. For example, third rotation algorithm can include:E=x*cos(θ)−y*sin(θ), and N=x*sin(θ)+y*cos(θ). Within the third rotationalgorithm x is the local x coordinate, y is the local y coordinate, E isthe projected easting coordinate, N is the projected northingcoordinate, and θ is the rotation angle which is the computed bearing.

One or more embodiments of the system can include a third in-watersensor on each of the plurality of nodes, each of the first in-watersensors, and each of the second in-water sensors. Each third in-watersensor can be in communication with the processor. The third in-watersensors can be depth sensors that can measure water depths for each ofthe plurality of nodes, each of the first in-water sensors, and each ofthe second in-water sensors, and can transmit the measured water depthsto the processor.

In one or more embodiments, a network can be in communication with theprocessor. The network can be satellite network, a cellular network, theinternet, or Ethernet cables connected between processor and thein-water sensors, the nodes, or both.

The data storage can include computer instructions to instruct theprocessor to construct a real-time display of the wire. The real-timedisplay can be a graphical user interface.

In one or more embodiments, the wire can have at least one streamer.Each streamer can be connected to at least one of the plurality ofnodes. Each streamer can be configured to collect seismic data, such asa size, depth, or location of a near surface geological formation. Themethod and system can allow for accurate positioning of the at least onestreamer.

The computer implemented method can include computer instructions in thedata storage to instruct the processor to identify a location of the atleast one streamer in real-time using the real-time display.

The computer implemented method can include computer instructions in thedata storage to instruct the processor to transmit an alarm when thelocation of the at least one streamer moves outside of one of the presetlimits in the library of preset limits associated with one of theplurality of nodes.

The alarm can be a text message, an email, an audible alarm, or aflashing light, and can be transmitted to a client device, anothercomputer on the network, or presented in the real-time display. Thealarm can be provided both onboard the floating vessel and remote to thefloating vessel. The client device can be a mobile phone, a computer, alaptop, a tablet computer or another similar device.

For example, the library of preset limits can include preset limitsassociated with each of the plurality of nodes. When the location astreamer moves outside of a preset limit for the node that streamer isattached to, the alarm can be transmitted.

Each streamer can be or include a hydrophone. Each hydrophone can beconnected to at least one of the plurality of nodes for collectingseismic data of a near surface geological formation.

The computer implemented method can include computer instructions in thedata storage to instruct the processor to create a trend analysis overtime using the third, fourth, and/or fifth order polynomial algorithm.

The computer implemented method can include computer instructions in thedata storage to instruct the processor to create a trend analysisevent-by-event using the third, fourth, and/or fifth order polynomialalgorithm.

The computer implemented method can include computer instructions in thedata storage to instruct the processor to create a log file.

The log file can contain the local x-y coordinates, the projectedcoordinates of the projected coordinate system, or combinations thereof.

Turning now to the Figures, FIG. 1 depicts an embodiment of a computersystem for positioning a wire 16. The wire 16 can be connected to, andstretched between, two separated tow lines, including a first tow line18 a and a second tow line 18 b.

The tow lines 18 a and 18 b can be secured to a floating vessel 22. Twodiverters can be secured to the two tow lines 18 a and 18 b, including afirst diverter 20 a and a second diverter 20 b.

The tow lines 18 a and 18 b can each have a length ranging from about 50feet to about 500 feet and a diameter ranging from about ¼ of an inch toabout 2 inches.

The tow lines 18 a and 18 b can extend from the floating vessel 22 at anangle from a centerline of the floating vessel 22, which can range fromabout 90 degrees to about 180 degrees.

The wire 16 can have a plurality of nodes, such as a first node 14 a, asecond node 14 b, a third node 14 c, a fourth node 14 d, a fifth node 14e, and a sixth node 14 f. The wire 16 can have from about 2 nodes toabout 100 nodes.

The wire 16 can have a length ranging from about 50 feet to about 500feet and a diameter ranging from about ¼ of an inch to about 2 inches.

One or more streamers can be attached to one or more of the plurality ofnodes 14 a-14 f. For example a first streamer 116 a can be attached tothe first node 14 a and a second streamer 116 b can be attached to thesecond node 14 b.

The streamers 116 a and 116 b can have a length ranging from about 1foot to about 500 feet. The streamers 116 a and 116 b can collectseismic data of a near surface geological formation 110, such as afault.

One or more hydrophones can be attached to one or more of the pluralityof nodes 14 a-14 f. For example, a first hydrophone 120 a can beattached to the third node 14 c and a second hydrophone 120 b can beattached to the fourth node 14 d.

The hydrophones 120 a and 120 b can be those made by TeledyneInstruments, such as a T-2BX hydrophone with an encapsulated hydrophonesensor element or the like.

The hydrophones 120 a and 120 b can collect seismic data of the nearsurface geological formation 110, such as a depth of the fault, size ofthe fault, or the like.

The computer system can include one or more first in-water sensors 24 a,24 b, 24 c, and 24 d deployed on or proximate the wire 16.

For example, the first in-water sensor 24 a can be deployed near thefirst tow line 18 a, and can be embedded in the wire 16. The firstin-water sensor 24 b can be positioned proximate to the second tow line18 b. The first in-water sensor 24 c can be towed near the wire 16. Thefirst in-water sensor 24 d can be supported by a buoy 26 towed from thewire 16 and can be positioned proximate to the wire 16.

The computer system can include one or more second in-water sensors 28 aand 28 b deployed on the wire 16. The second in-water sensors 28 a and28 b can be deployed to provide azimuths tangential to the wire 16.

The second in-water sensor 28 a can be embedded in the wire 16 at thefirst node 14 a, and the second in-water sensor 28 b can be attached tothe wire 16 between the second node 14 b and the third node 14 c.

The computer system can include a processor 32 in communication with adata storage 34, which can be disposed on the floating vessel 22.

The processor 32 can be in communication with the first in-water sensors24 a-24 d and the second in-water sensors 28 a and 28 b, such as throughcables 57 a and 57 b, which can be Ethernet cables.

The system can also include third in-water sensors, such as thirdin-water sensors 29 a, 29 b, and 29 c, which can be in communicationwith the processor 32 through the cables 57 a and 57 b.

The third in-water sensor 29 a is shown on the fifth node 14 e, thethird in-water sensor 29 b is shown on the second in-water sensor 28 b,and the third in-water sensor 29 c is shown on the first in-water sensor24 c. The system can include any number of first in-water sensors,second in-water sensors, and third in-water sensors disposed at variouspositions along the wire 16.

The third in-water sensors 29 a, 29 b and 29 c can be depth sensors thattransmit water depths for each of the plurality of nodes 14 a-14 f, eachof the first in-water sensors 24 a-24 d, and each of the second in-watersensors 28 a and 28 b.

A client device 13 can be in communication with the processor 32, suchas through a network 108, for remote monitoring. For example, the clientdevice 13 can receive one or more alarms 128. The alarms 128 can beflashing lights, an audible signal, or the like.

In operation, the floating vessel 22 can move along a surface of thewater pulling the tow lines 18 a and 18 b, the wire 16, the streamers116 a and 116 b, and the hydrophones 120 a and 120 b.

The first in-water sensors 24 a-24 d, the second in-water sensors 28 aand 28 b, and the third in-water sensors 29 a, 29 b and 29 c can bedisposed above or below the surface of the water, and can collect sensorinformation for transmission to the processor 32 via the cables 57 a and57 b.

The processor 32 can receive the sensor information, store the sensorinformation in the data storage 34, and utilize various computerinstructions in the data storage 34 to perform calculations on thesensor information for positioning the plurality of nodes 14 a-14 f ofthe wire 16.

The processor 32 can utilize computer instructions and data stored inthe data storage 34 to perform various calculations, as describedherein, to determine a position of the wire 16, a direction of the wire16, and a velocity of the wire 16.

FIG. 2A depicts an embodiment of a local x-y coordinate system 64 with aposition of the wire 16 plotted thereon.

The local x-y coordinate system 64 can be presented, such as on adisplay device or monitor in communication with the processor, as aportion of the real-time display.

The y-axis and x-axis both represent spatial measurements, such as inmeters, of positions within the local x-y coordinate system 64.

On the plot of the wire 16, the position of the first in-water sensors24 a and 24 b and the position of the second in-water sensor 28 c areshown. For example, the local x-y coordinates 62 a and 62 b associatedwith the second in-water sensor 28 c are shown plotted in the local x-ycoordinate system 64.

A computed bearing 58 between the first in-water sensor 24 a and thefirst in-water sensor 24 b can be depicted on the local x-y coordinatesystem 64.

An azimuth 30 tangential to the wire 16 can also be depicted on thelocal x-y coordinate system 64.

FIG. 2B depicts an embodiment of a projected coordinate system 12 with aposition of the wire 16 plotted thereon.

The projected coordinate system 12 can be presented, such as on thedisplay device or monitor in communication with the processor, as aportion of the real-time display.

In the depicted projected coordinate system 12, the y-axis representsspatial measurements in a northing coordinate of the projectedcoordinate system 12, and the x-axis represents spatial measurements inan easting coordinate of the projected coordinate system 12.

The origin of the projected coordinate system 12 can be determined usingthe projected coordinates from at least one of the first in-watersensors 24 a and 24 b. For example, the first in-water sensor 24 a canhave projected coordinates 10 a and 10 b associated therewith andplotted within the projected coordinate system 12.

The computed bearing 58 between the first in-water sensor 24 a and thefirst in-water sensor 24 b can be depicted within the projectedcoordinate system 12.

The azimuth 30 tangential to the wire 16 from the second in-water sensor28 c can also be depicted within the projected coordinate system 12.

A representation of the local x-y coordinate system 64 can be depictedwithin the projected coordinate system 12 to show the relationshipbetween the local x-y coordinate system 64 and the projected coordinatesystem 12.

FIG. 3A depicts an embodiment of the trend analysis over time 132 andFIG. 3B depicts an embodiment of a trend analysis event-by-event 136.

For example, a distance between two nodes of the plurality of nodes onthe wire can be plotted with respect to time, such as in seconds, toform the trend analysis over time 132.

A distance between two nodes of the plurality of nodes on the wire canbe plotted with respect to events to form the trend analysisevent-by-event 136. For example, an event can be the release of seismicenergy. The events can be sequential.

FIG. 4 depicts an embodiment of the log file 140. The log file 140 canbe created by tabulating various portions of data and sensor informationwithin the data storage.

For example, the log file 140 can include a first column 143 a showingvarious nodes of the plurality of nodes, such as the first node 14 a ina first row of the log file 140, the second node 14 b in a second row ofthe log file 140, and the third node 14 c in a third row of the log file140.

The log file 140 can include a second column 143 b showing the localx-coordinate of the local x-y coordinates that are associated with thenode in that particular row of the log file 140. For example, the localx-coordinate 62 a can be 3 for the first node 14 a, the localx-coordinate 62 c can be 4 for the second node 14 b, and the localx-coordinate 62 e can be 5 for the third node 14 c.

The log file 140 can include a third column 143 c showing the localy-coordinate of the local x-y coordinates that are associated with thenode in that particular row of the log file 140. For example, the localy-coordinate 62 b can be 7 for the first node 14 a, the localy-coordinate 62 d can be 8 for the second node 14 b, and the localy-coordinate 62 f can be 9 for the third node 14 c.

The log file 140 can include a fourth column 143 d showing the projectedx-coordinate of the projected coordinates that are associated with thenode in that particular row of the log file 140. For example, theprojected x-coordinate 10 a can be 10000 for the first node 14 a, theprojected x-coordinate 10 c can be 10001 for the second node 14 b, andthe projected x-coordinate 10 e can be 10002 for the third node 14 c.

The log file 140 can include a fifth column 143 e showing the projectedy-coordinate of the projected coordinates that are associated with thenode in that particular row of the log file 140. For example, theprojected y-coordinate 10 b can be 11001 for the first node 14 a, theprojected y-coordinate 10 d can be 11002 for the second node 14 b, andthe projected y-coordinate 10 f can be 11003 for the third node 14 c.

The log file 140 can include a sixth column 143 f showing eventsassociated with the nodes in the first column 143 a. For example, afirst event 119 a can be associated with the first node 14 a, a secondevent 119 b can be associated with the second node 14 b, and a thirdevent 119 c can be associated with the third node 14 c.

The log file 140 can include a seventh column 143 g showing a time stampassociated with each event. For example, a time stamp 142 a, which canbe 1:01 pm for example, can be associated with the first event 119 a. Atime stamp 142 b, which can be 1:02 pm for example, can be associatedwith the second event 119 b. A time stamp 142 c, which can be 1:03 pmfor example, can be associated with third event 119 c.

FIG. 5 depicts an embodiment of a portion of the real-time display 114.

The real-time display 114 can present a plot 115 of the wire 16. Thereal-time display 114 can present a depth profile 117 for the wire 16and the streamers 116.

The depth profile 117 can be a plot of the water depths 31 b of the wire16 and the streamers 116 with respect to events 119.

The real-time display 114 can present a depiction of node separations121 showing the distance between nodes along the wire 16.

The real-time display 114 can present compass data 123, such as compassheadings of the second in-water sensors.

The real-time display 114 can present water depth data, such as waterdepths 31 a of the first in-water sensors, the second in-water sensors,the streamers 116, the plurality of nodes, and/or the wire 16.

The real-time display 114 can present network solution data 125, such aspolynomial coefficients. For example, the polynomial coefficient Ax,which is equal to 0.01, is shown along with other polynomialcoefficients.

The real-time display 114 can present event information 127, such as anevent number, here shown as 00002131, a date, and a time.

FIGS. 6A-6D depict an embodiment of the data storage 34.

The data storage 34 can include the library of nominal values for third,fourth, or fifth order polynomial coefficients 36 with nominal values 37stored therein.

The data storage 34 can include the library of known distances along thewire 38 having at least one distance 39 along the wire, distances toeach first in-water sensor 40, distances to each second in-water sensor42, distances to each node of the plurality of nodes 44, and distancesto desired locations along the wire 46.

The data storage 34 can include the library of preset limits 48 withpreset limits 50.

The data storage 34 can include computer instructions for instructingthe processor to receive sensor information from each first in-watersensor and each second in-water sensor 52.

The sensor information 54 can be stored in the data storage 34 with atime stamp 142, and can include an azimuth 30 a tangential to the wire,and the projected coordinates 10 for a position on the wire.

The data storage 34 can include computer instructions to instruct theprocessor to use the projected coordinates from the first in-watersensors to compute a bearing between the first in-water sensors, andthen to use the bearing with the sensor information and a first rotationalgorithm to reorient the projected coordinates of all of the firstin-water sensors to local x-y coordinates, forming a local x-ycoordinate system 56.

The bearing 58 can be stored in the data storage 34.

Also the first rotation algorithm 60 a, a second rotation algorithm 60b, and a third rotation algorithm 60 c can be stored in the data storage34.

The data storage 34 can include the local x-y coordinates 62 in thelocal x-y coordinate system 64 stored therein.

The data storage 34 can include computer instructions to instruct theprocessor to rotate the azimuth tangential to the wire from each secondin-water sensor using the bearing and the second rotation algorithm toreorient all azimuths tangential to the wire into the local x-ycoordinate system 66.

The data storage 34 can include computer instructions to instruct theprocessor to construct a third, fourth, or fifth order polynomialalgorithm of the wire in real-time using nominal values from the libraryof nominal values for third, fourth, or fifth order polynomialcoefficients, the local x-y coordinates of the first in-water sensors,and at least one distance along the wire from the library of knowndistances along the wire 70.

The third, fourth, or fifth order polynomial algorithm 72 can be storedin the data storage 34.

The data storage 34 can include computer instructions to instruct theprocessor to compute an azimuth tangential to the wire at each secondin-water sensor using the third, fourth, or fifth order polynomialalgorithm 74.

The computed azimuth 30 b can be stored in the data storage 34.

The data storage 34 can include computer instructions to instruct theprocessor to compute a difference between the computed azimuthtangential to the wire with the reoriented azimuths tangential to thewire to form a residual 76.

The residual 78 can be stored in the data storage 34.

The data storage 34 can include computer instructions to instruct theprocessor to use the residual with a least squares technique to updatethe library of nominal values for third, fourth, or fifth orderpolynomial coefficients 80.

The linear least squares technique 82 can be stored in the data storage34.

The data storage 34 can include computer instructions to instruct theprocessor to construct an updated third, fourth, or fifth orderpolynomial algorithm of the wire using updated nominal values from theupdated library of nominal values for third, fourth, or fifth orderpolynomial coefficients, the local x-y coordinates of the first in-watersensors, and at least one distance along the wire from the library ofknown distances along the wire 84.

The updated third, fourth, or fifth order polynomial algorithm 86 can bestored in the data storage 34.

The data storage 34 can include computer instructions to instruct theprocessor to compute an updated azimuth tangential to the wire at eachsecond in-water sensor 88.

The updated azimuth 30 c can be stored in the data storage 34.

The data storage 34 can include computer instructions to instruct theprocessor to compute an updated difference between the computed updatedazimuth tangential to the wire and the reoriented azimuth tangential tothe wire until the residual is within one of the preset limits from thelibrary of preset limits 90.

The data storage 34 can include computer instructions to instruct theprocessor to calculate a pair of local x-y coordinates for at least oneof the plurality of nodes on the wire 92.

The calculated pair of local x-y coordinates 63 a and 63 b can be storedin the data storage 34.

The data storage 34 can include computer instructions to instruct theprocessor to use the bearing and the third rotation algorithm to rotatethe pair of local x-y coordinates for at least one of the plurality ofnodes on the wire from the local x-y coordinate system to the projectedcoordinate system 93.

The data storage 34 can have computer instructions to instruct theprocessor to construct a real-time display of the wire 112.

The data storage 34 can have computer instructions to instruct theprocessor to identify a location of the at least one streamer inreal-time using the real-time display 122.

The location of the at least one streamer 124 can be stored in the datastorage 34.

The data storage 34 can have computer instructions to instruct theprocessor to transmit an alarm when the location of the at least onestreamer moves outside of one of the preset limits in the library ofpreset associated with one of the plurality of nodes 126.

The data storage 34 can have computer instructions to instruct theprocessor to create a trend analysis over time using the third, fourth,or fifth order polynomial algorithm 130.

The data storage 34 can have computer instructions to instruct theprocessor to create a trend analysis event-by-event using the third,fourth, or fifth order polynomial algorithm 134.

The data storage 34 can have computer instructions to instruct theprocessor to create a log file containing the local x-y coordinates, theprojected coordinates of the projected coordinate system, orcombinations thereof 138.

The data storage 34 can have computer instructions to instruct theprocessor to process in real-time as the floating vessel traverses overa near surface geological formation 144, and computer instructions toinstruct the processor to process after the floating vessel has acquiredinformation from all of the first in-water sensors and all of the secondin-water sensors 146.

The data storage 34 can have computer instructions to identify alocation of the at least one hydrophone in real-time using the real-timedisplay 148, and computer instructions to transmit an alarm when thelocation of the at least one hydrophone moves outside of one of thepreset limits in the library of preset limits associated with one of theplurality of nodes 150.

The data storage 34 can have computer instructions to form a library ofnominal values for third, fourth, or fifth order polynomial coefficients152, computer instructions to form a library of known distances alongthe wire 154, and computer instructions to form a library of presetlimits comprising preset limits 156.

The data storage 34 can have computer instructions to use the waterdepth for each of the plurality of nodes to modify the library of knowndistances 160.

FIGS. 7A-7D depict an embodiment of a computer implemented method fordetermining projected coordinates in a projected coordinate system forat least one node on a wire having a plurality of nodes.

The method can include securing two separated tow lines to a floatingvessel, as illustrated by box 700.

The method can include deploying the wire between the two separated towlines, as illustrated by box 702.

The method can include installing at least a pair of first in-watersensors on the wire and positioning each first in-water sensor proximateto an end of the wire, as illustrated by box 703.

The method can include embedding one or more first in-water sensors inthe wire, positioning one or more first in-water sensors adjacent one ofthe plurality of nodes, positioning one or more first in-water sensorsproximate to the wire, positioning one or more first in-water sensors ona buoy towed from the wire, or combinations thereof, as illustrated bybox 704.

The method can include determining an absolute position for eachin-water sensor and each of the plurality of nodes, or determining aspecific distance on the wire using global positioning system sensors,laser sensors, acoustic sensors, or combinations thereof as the firstin-water sensors, as illustrated by box 705.

The method can include using the pair of first in-water sensors tocollect and transmit first sensor information to a processor incommunication with a data storage, as illustrated by box 706.

The method can include using the processor and the first sensorinformation to determine projected coordinates for a position on thewire, as illustrated by box 707.

The method can include computing the projected coordinates in real-timeas the floating vessel traverses over a near surface geologicalformation, as illustrated by box 708.

The method can include installing at least a pair of second in-watersensors on the wire by embedding the second in-water sensors in thewire, attaching the second in-water sensors to the wire, or combinationsthereof, as illustrated by box 709.

The method can include using the second in-water sensors to collect andtransmit second sensor information to the processor, as illustrated bybox 710.

The method can include receiving a time stamp with the sensorinformation, as illustrated by box 711.

The method can include using the processor, the second sensorinformation, and an algorithm for computing azimuth tangents to computea first azimuth tangential to the wire for each second in-water sensor,as illustrated by box 712.

The method can include loading a library of nominal values for third,fourth, or fifth order polynomial coefficients, a library of knowndistances along the wire, and a library of preset limits into the datastorage, as illustrated by box 713.

The method can include using the projected coordinates from the firstin-water sensors and a bearing equation to compute a bearing between thefirst in-water sensors, as illustrated by box 714.

The method can include using the bearing, the first sensor information,the second sensor information, and a first rotation algorithm toreorient the projected coordinates of the first in-water sensors tolocal x-y coordinates, forming a local x-y coordinate system, asillustrated by box 715.

The method can include using a second rotation algorithm and the bearingto rotate the azimuths tangential to the wire from the second in-watersensors to reoriented azimuths tangential to the wire into the local x-ycoordinate system, as illustrated by box 716.

The method can include constructing a third, fourth, or fifth orderpolynomial algorithm of the wire in real-time using nominal values, thelocal x-y coordinates of the first in-water sensors, and at least onedistance along the wire, as illustrated by box 717.

The method can include computing a second azimuth tangential to the wireat each second in-water sensor using the third, fourth, or fifth orderpolynomial algorithm, as illustrated by box 718.

The method can include computing a difference between the computedsecond azimuths tangential to the wire with the reoriented azimuthstangential to the wire, thereby forming a residual, as illustrated bybox 719.

The method can include using the residual with a least squares techniqueto update the library of nominal values for third, fourth, or fifthorder polynomial coefficients, as illustrated by box 720.

The method can include constructing an updated third, fourth, or fifthorder polynomial algorithm of the wire using updated nominal values, thelocal x-y coordinates of the first in-water sensors, and at least onedistance along the wire, as illustrated by box 721.

The method can include computing an updated azimuth tangential to thewire at each second in-water sensor, as illustrated by box 722.

The method can include computing an updated difference between thecomputed second azimuths tangential to the wire with the reorientedazimuths tangential to the wire until the residual is within a presetlimit, as illustrated by box 723.

The method can include calculating a pair of local x-y coordinates forat least one of the plurality of nodes on the wire, as illustrated bybox 724.

The method can include using the bearing and a third rotation algorithmto rotate the pair of local x-y coordinates from the local x-ycoordinate system to the projected x, y coordinate system, asillustrated by box 725.

The method can include installing a third in-water sensor as a depthsensor on each of the plurality of nodes, each of the first in-watersensors, and each of the second in-water sensors, as illustrated by box726.

The method can include providing communication between each thirdin-water sensor and the processor, as illustrated by box 727.

The method can include transmitting a water depth to the processor fromeach third in-water sensor for each of the plurality of nodes, each ofthe first in-water sensors, and each of the second in-water sensors, asillustrated by box 728.

The method can include using the water depths for each of the pluralityof nodes to modify the library of known distances along the wire, asillustrated by box 729.

The method can include connecting the processor with a network forcommunication to a client device remote to the processor, as illustratedby box 730.

The method can include constructing a real-time display of the wire thatis updated at least every one minute, as illustrated by box 731.

The method can include attaching at least one streamer to at least oneof the plurality of nodes for collecting seismic data of the nearsurface geological formation, as illustrated by box 732.

The method can include identifying a location of the at least onestreamer in-real time using the real-time display, and transmitting analarm when the location of the at least one streamer moves outside ofthe preset limits associated with one of the plurality of nodes, asillustrated by box 733.

The method can include connecting at least one hydrophone to at leastone of the plurality of nodes for collecting seismic data of the nearsurface geological formation, as illustrated by box 734.

The method can include creating a trend analysis over time using thethird, fourth, or fifth order polynomial algorithm, as illustrated bybox 735.

The method can include creating a trend analysis event-by-event usingthe third, fourth, or fifth order polynomial algorithm, as illustratedby box 736.

The method can include creating a log file containing the local x-ycoordinates, the projected coordinates of the projected x-y coordinatesystem, or combinations thereof, as illustrated by box 737.

While these embodiments have been described with emphasis on theembodiments, it should be understood that within the scope of theappended claims, the embodiments might be practiced other than asspecifically described herein.

1. A computer implemented method for determining projected coordinatesin a projected coordinate system for at least one node on a wire havinga plurality of nodes, the computer implemented method comprising: a.securing two separated tow lines to a floating vessel, wherein each towline has a diverter; b. deploying the wire between the two separated towlines; c. installing at least a pair of first in-water sensors on thewire for determining the projected coordinates for a positioning on thewire, wherein each first in-water sensor is: (i) embedded in the wire;(ii) positioned adjacent or on one of the plurality of nodes on thewire; (iii) proximate to the wire; (iv) on a buoy towed from the wire;or (v) combinations thereof; d. using the pair of first in-water sensorsto transmit first sensor information to a processor in communicationwith a data storage; e. using the processor and the first sensorinformation to determine the projected coordinates for the position onthe wire; f. installing at least a pair of second in-water sensors onthe wire, wherein each second in-water sensor is: (i) embedded in thewire; (ii) attached to the wire; or (iii) combinations thereof; g. usingthe second in-water sensors to transmit second sensor information to theprocessor; h. using the processor, the second sensor information, and analgorithm for computing azimuths to compute a first azimuth tangentialto the wire for each second in-water sensor; i. loading a library ofnominal values for third, fourth, or fifth order polynomialcoefficients, a library of known distances along the wire, and a libraryof preset limits into the data storage, wherein the library of knowndistances along the wire comprises: (i) distances to each first in-watersensor; (ii) distances to each second in-water sensor; (iii) distancesto each of the plurality of nodes; (iv) distances to a location alongthe wire; or (v) combinations thereof; j. using the projectedcoordinates from the first in-water sensors and a bearing equation tocompute a bearing between the first in-water sensors; k. using thebearing, the first sensor information, the second sensor information,and a first rotation algorithm to reorient the projected coordinates ofthe first in-water sensors to local x-y coordinates, forming a local x-ycoordinate system; l. using a second rotation algorithm and the bearingto rotate the azimuths tangential to the wire from the second in-watersensors to reoriented azimuths tangential to the wire into the local x-ycoordinate system; m. using the processor to construct a third, fourth,or fifth order polynomial algorithm of the wire in using: (i) nominalvalues from the library of nominal values for the third, fourth, orfifth order polynomial coefficients; (ii) the local x-y coordinates ofthe first in-water sensors; and (iii) at least one distance along thewire from the library of known distances along the wire; n. using theprocessor to compute a second azimuth tangential to the wire at eachsecond in-water sensor using the third, fourth, or fifth orderpolynomial algorithm; o. using the processor to compute a differencebetween the computed second azimuths tangential to the wire with thereoriented azimuths tangential to the wire, thereby forming a residual;p. updating the library of nominal values for third, fourth, or fifthorder polynomial coefficients by using the processor to perform a leastsquares technique using the residual; q. constructing an updated third,fourth, or fifth order polynomial algorithm of the wire using theprocessor, wherein the processor uses: (i) updated nominal values fromthe library of nominal values for third, fourth, or fifth orderpolynomial coefficients; (ii) the local x-y coordinates of the firstin-water sensors; and (iii) at least one distance along the wire fromthe library of known distances along the wire; r. using the processor tocompute an updated azimuth tangential to the wire at each secondin-water sensor; s. using the processor to compute an updated differencebetween the computed second azimuths tangential to the wire with thereoriented azimuths tangential to the wire until the residual is withina preset limit of the library of preset limits; t. using the processorto calculate a pair of local x-y coordinates for at least one of theplurality of nodes on the wire; and u. using the processor, the bearing,and a third rotation algorithm to rotate the pair of local x-ycoordinates from the local x-y coordinate system to the projected x-ycoordinate system.
 2. The computer implemented method of claim 1,further comprising: a. installing a third in-water sensor on each of theplurality of nodes, each of the first in-water sensors, and each of thesecond in-water sensors, wherein each third in-water sensor is incommunication with the processor, and wherein each third in-water sensoris a depth sensor; and b. transmitting a water depth to the processorfrom each third in-water sensor for each of the plurality of nodes, eachof the first in-water sensors, and each of the second in-water sensors.3. The computer implemented method of claim 2, further comprising usingthe water depths for each of the plurality of nodes to modify thelibrary of known distances along the wire.
 4. The computer implementedmethod of claim 1, further comprising determining the position on thewire using the first in-water sensors, wherein the first in-watersensors are: a. global positioning system sensors; b. laser sensors; c.acoustic sensors; or d. combinations thereof.
 5. The computerimplemented method of claim 1, further connecting the processor with anetwork for communication to a client device remote to the processor. 6.The computer implemented method of claim 1, further comprising computingthe projected coordinates in real-time as the floating vessel traversesover a near surface geological formation.
 7. The computer implementedmethod of claim 1, further comprising constructing a real-time displayof the wire.
 8. The computer implemented method of claim 7, wherein thereal-time display further comprises: a depth profile of the wire andstreamers on the wire, separations between nodes of the plurality ofnodes, compass data, depth data, the polynomial coefficients, eventinformation, or combinations thereof.
 9. The computer implemented methodof claim 7, wherein the wire comprises at least one streamer connectedto at least one of the plurality of nodes, at least one hydrophoneconnected to at least one of the plurality of nodes, or combinationsthereof for collecting seismic data of a near surface geologicalformation.
 10. The computer implemented method of claim 9, furthercomprising identifying a location of one of the streamers, one of thehydrophones, or combinations thereof in-real time using the real-timedisplay, and transmitting an alarm when one of the identified locationsmoves outside of one of the preset limits.
 11. The computer implementedmethod of claim 1, wherein the wire comprises a seismic hydrophone arraydisposed thereon.
 12. The computer implemented method of claim 1,further comprising creating a trend analysis over time using the third,fourth, or fifth order polynomial algorithm, wherein the trend analysisover time is a plot of distances between nodes of the plurality of nodeversus time.
 13. The computer implemented method of claim 1, furthercomprising creating a trend analysis event-by-event using the third,fourth, or fifth order polynomial algorithm, wherein the trend analysisevent-by-event is a plot of distances between nodes of the plurality ofnode versus events.
 14. The computer implemented method of claim 1,further comprising using the processor to create a log file containing:the local x-y coordinates, the projected coordinates of the projectedcoordinate system, events, time stamps, or combinations thereof.
 15. Thecomputer implemented method of claim 1, further comprising receiving atime stamp with the sensor information.
 16. A computer implementedmethod for determining projected coordinates in a projected coordinatesystem for at least one node on a wire having a plurality of nodes,wherein the computer implemented method comprises executing thefollowing steps by a processor: a. determining projected coordinates forpositions for sensors of a first plurality of in-water sensors on a wirefrom a plurality of a first sensor information sent from the firstplurality of sensors; b. computing a first azimuth tangential from aplurality of second sensor information sent from a second plurality ofin-water sensors on the wire, and an algorithm for computing azimuths;c. computing a bearing between the first plurality of first in-watersensors using the projected coordinates and a bearing equation; d.reorienting the projected coordinates of the first in-water sensors tolocal x-y coordinates, forming a local x-y coordinate system; e.reorienting the azimuths tangential to the wire into the local x-ycoordinate system; and f. constructing a third, fourth, or fifth orderpolynomial algorithm of the wire in using: (i) nominal values from alibrary of nominal values for the third, fourth, or fifth orderpolynomial coefficients; (ii) the local x-y coordinates of the firstplurality of in-water sensors; and (iii) at least one distance along thewire from a library of known distances along the wire.